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@InCollection(ECML2000,
        Author="Peter Stone and Manuela Veloso",
        Title="Layered Learning",
        booktitle="Machine Learning: ECML 2000 (Proceedings of the Eleventh European Conference on Machine Learning)",
        editor="Ramon L\'{o}pez de M\'{a}ntaras and Enric Plaza",
        month="May/June",
        Year="2000",
        address="Barcelona,Catalonia,Spain",
        publisher="Springer Verlag",
        pages="369--381",
        abstract={
                 This paper presents layered learning, a hierarchical
                 machine learning paradigm.  Layered learning applies
                 to tasks for which learning a direct mapping from
                 inputs to outputs is intractable with existing
                 learning algorithms. Given a hierarchical task
                 decomposition into subtasks, layered learning
                 seamlessly integrates separate learning at each
                 subtask layer. The learning of each subtask directly
                 facilitates the learning of the next higher subtask
                 layer by determining at least one of three of its
                 components: (i) the set of training examples; (ii)
                 the input representation; and/or (iii) the output
                 representation. We introduce layered learning in its
                 domain-independent general form. We then present a
                 full implementation in a complex domain, namely
                 simulated robotic soccer.
        },
)